Abstract
Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.
Highlights
IntroductionRobots are expected to be used in various fields such as surgery in the medical field, human support in the welfare field and searching in the rescue field
Japan has been considered as having an aging population
An experimental system is configured by 3-DOF micro-hand, an air compressor(0.20P-5S, HITACHI, Tokyo, Japan), a safety regulator(RP1000-8-07, CKD, Aichi, Japan), an electro-pneumatic regulator(MEVT500, CKD, Aichi, Japan) providing different pressures for the muscles, a controller for an electro-pneumatic regulator, a computer sending electrical signal and two cam eras(HD Pro Webcam C920r, Logicool, Tokyo, Japan) measuring outputs of the micro-hand
Summary
Robots are expected to be used in various fields such as surgery in the medical field, human support in the welfare field and searching in the rescue field. In these fields, robots have to handle human bodies and objects carefully. Robots have to handle human bodies and objects carefully From these expectations, soft actuators have been getting increased attention for realizing such robots. Soft actuators can handle human bodies and objects softly and be used in water or mud because of being rust-free. Pneumatic soft actuators mainly have a structure of tubes and balloons which show expanding and bending motions under air pressure
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